Waist and crotch structure of humanoid robot

Abstract

The waist and crotch structure of the humanoid robot comprises a waist and crotch shell, the top wall of the waist and crotch shell is rotationally connected with a first rotating shaft through a first bearing, the outer side of the first rotating shaft is movably sleeved with a first hollow shaft, the upper end of the first hollow shaft is provided with an upper trunk connecting base, and the left wall and the right wall of the waist and crotch shell are rotationally connected with second rotating shafts through second bearings; the outer sides of the second rotating shafts are movably sleeved with second hollow shafts, and the opposite ends of the two second hollow shafts are provided with lower limb connecting bases. According to the waist and crotch structure of the humanoid robot, by additionally arranging the reinforcing parts and reasonably selecting materials for the reinforcing parts, auxiliary supporting is carried out on rotation inertia force generated by operation of the waist and crotch of the humanoid robot, and then the operation stability of the waist and crotch of the humanoid robot is improved; meanwhile, the crotch width and span height of the waist and crotch of the humanoid robot can be adjusted according to the use requirements of the actual environment, and use is convenient.

Description

TECHNICAL FIELD

[0001] The utility model relates to humanoid robot technical field, concretely is a waist hip part structure of humanoid robot. BACKGROUND

[0002] Humanoid robot can imitate the shape and motion posture of human, and has broad application prospect. Humanoid robot generally includes upper limb assembly, waist hip assembly, lower limb assembly, waist hip assembly is connected between upper limb assembly and lower limb assembly, which is similar to human body, and the waist hip assembly is mainly used to realize the functions of waist joint and hip joint, including realizing bending, side turning, waist rotation and other movements, the waist hip part structure of part humanoid robot is mainly composed of four parts of waist base plate, driving mechanism, motion transmission mechanism and waist cover plate, the driving mechanism is mainly composed of double-shaft servo motor, forward rotation clutch and reverse rotation clutch, the motion transmission mechanism is mainly composed of bevel gear and straight gear, the servo motor and the clutch are controlled to realize forward rotation and reverse rotation, the motion is transmitted to the waist cover plate through the bevel gear and the straight gear to realize the rotation of the robot, and the motion transmission mechanism is fixed on the waist base plate of the robot. In the motion adjustment process of the waist hip part structure of the device, the rotation shaft of the corresponding mechanism is rotated to realize the change of the motion mode of the waist hip part of the humanoid robot. However, in this process, the rotational inertia force generated by the operation of the waist hip part of the humanoid robot acts on the connection between the rotation shaft and the device shell. If the rotational inertia force reaches a certain critical value, the operation stability of the waist hip part of the humanoid robot is easily reduced. Therefore, we propose a waist hip part structure of humanoid robot. UTILITY MODEL CONTENTS

[0003] The technical problem to be solved by the utility model is to overcome the defects of the prior art, and provide a waist hip part structure of humanoid robot. The device adds reinforcing components and reasonably selects the reinforcing components, thereby assisting the support of the rotational inertia force generated by the operation of the waist hip part of the humanoid robot, and further improving the operation stability of the waist hip part of the humanoid robot. At the same time, the waist hip part of the humanoid robot can adjust the hip width and the stride height according to the actual environmental use requirements, which is convenient to use and can effectively solve the problems in the background art.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a waist hip part structure of humanoid robot, including waist hip shell, the top wall of waist hip shell is connected with the rotation shaft one through bearing one, the outer side of rotation shaft one is movably sleeved with hollow shaft one, the upper end of hollow shaft one is provided with upper torso connecting seat, the left and right two walls of waist hip shell are both connected with rotation shaft two through bearing two, the outer side of rotation shaft two is movably sleeved with hollow shaft two, and the opposite ends of two hollow shafts two are both provided with lower limb connecting seat, further including reinforcing support distance adjusting mechanism.

[0005] The reinforced support and adjustable distance mechanism includes an annular seat, an arc-shaped shell, an arc-shaped seat, and an adjustable distance assembly. The annular seat is respectively located on the upper side and the left and right sides of the waist and hip shell. An annular dovetail groove is provided on the side of the annular seat away from the center of the waist and hip shell. Two symmetrically distributed arc-shaped shells are slidably connected inside the annular dovetail groove. Arc-shaped seats are slidably connected inside the arc-shaped shells. The upper torso connecting seat and the lower limb connecting seat are fixedly connected to the adjacent arc-shaped seats. An adjustable distance assembly is provided between the upper torso connecting seat and the lower limb connecting seat and the waist and hip shell. This device, by adding reinforced components and selecting appropriate materials for the reinforced components, provides auxiliary support for the rotational inertial force generated by the waist and hip of the humanoid robot, thereby improving the running stability of the waist and hip of the humanoid robot. At the same time, the waist and hip of the humanoid robot can be adjusted in terms of hip width and stride height according to the actual usage requirements of the environment, making it convenient to use.

[0006] Furthermore, it also includes a microcontroller, which is located outside the waist and hip shell. The input terminal of the microcontroller is electrically connected to an external power supply, making it convenient to control electrical components.

[0007] Furthermore, the distance adjustment component includes an electro-hydraulic actuator, an annular dovetail groove II, and a slide. The electro-hydraulic actuator is respectively disposed on the top wall and the left and right walls of the hip shell. The input end of the electro-hydraulic actuator is electrically connected to the output end of the microcontroller. The inner sides of the two lower limb connecting seats and the lower side of the upper torso connecting seat are provided with annular dovetail groove II. The slide is slidably connected inside the annular dovetail groove II. The telescopic ends of the electro-hydraulic actuator are fixedly connected to the adjacent slide, thereby adjusting the hip width and stride height of the humanoid robot's hips.

[0008] Furthermore, the distance adjustment component also includes laser sensors, which are respectively disposed on the upper side and the left and right sides of the waist and hip shell. The laser sensors are bidirectionally electrically connected to the microcontroller to detect and upload the distance of the hip width and stride height adjustment of the humanoid robot's waist and hip.

[0009] Furthermore, the top wall and left and right walls of the hip shell are provided with connecting seats. The middle of each connecting seat is rotatably connected to a small gear through a rotating shaft three. The ends of rotating shaft one and rotating shaft two near the center of the hip shell are provided with large gears. The large gears are meshed with the adjacent small gears. The side of each connecting seat near the center of the hip shell is provided with a brake motor. The input end of each brake motor is electrically connected to the output end of the microcontroller. The output shaft of each brake motor is fixedly connected to the adjacent rotating shaft three, thereby controlling the movement of the humanoid robot's hips.

[0010] Furthermore, the top wall and left and right walls of the waist and hip shell are equipped with angle sensors, which are bidirectionally electrically connected to the microcontroller. Rotating shaft one and rotating shaft two are fixedly connected to the detection ends of the adjacent angle sensors to detect and upload the rotation angle of the humanoid robot's waist and hip.

[0011] Further, the outer side of the rotating shaft one and the rotating shaft two is provided with a guide groove, the inner side of the hollow shaft two and the hollow shaft one is slidably connected with the adjacent guide groove through a guide strip, so that the rotating shaft one or the rotating shaft two in the waist and hip part structure of the humanoid robot can drive the corresponding hollow shaft one or the hollow shaft two to rotate synchronously.

[0012] Further, the annular seat is a carbon fiber annular seat, the arc-shaped shell is a carbon fiber arc-shaped shell, and the arc-shaped seat is a carbon fiber arc-shaped seat, so that the structural support strength of the operation auxiliary support part of the waist and hip part of the humanoid robot is improved, and the service life is improved.

[0013] Compared with the prior art, the waist and hip part structure of the humanoid robot has the following advantages:

[0014] When the waist and hip part structure of the humanoid robot is used, the annular seat, the arc-shaped shell, the arc-shaped seat and reasonable material selection of these elements are used to assist the support of the rotational inertia force generated by the waist and hip part of the humanoid robot, so that the running stability of the waist and hip part of the humanoid robot is improved, and the waist width and the striding height of the waist and hip part of the humanoid robot can be adjusted according to the actual environmental use requirements through the distance adjusting assembly, so that the humanoid robot is convenient to use. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 It is a structural schematic diagram of the utility model;

[0016] Fig. 2 It is a structural schematic diagram of the utility model;

[0017] Fig. 3 It is a structural schematic diagram of the utility model A place amplification.

[0018] In the figure: 1 waist and hip shell, 2 single-chip microcomputer, 3 rotating shaft one, 4 hollow shaft one, 5 upper torso connecting seat, 6 rotating shaft two, 7 hollow shaft two, 8 lower limb connecting seat, 9 reinforcing support distance adjusting mechanism, 91 annular seat, 92 arc-shaped shell, 93 arc-shaped seat, 94 distance adjusting assembly, 941 electro-hydraulic push rod, 942 annular dovetail groove two, 943 sliding seat, 944 laser sensor, 10 large gear, 11 connecting seat, 12 rotating shaft three, 13 small gear, 14 brake motor, 15 angle sensor, 16 guide groove. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model.

[0020] See Figs. 1-3The embodiment provides a technical scheme: a waist and hip structure of a humanoid robot, which comprises a waist and hip shell 1, a top wall of the waist and hip shell 1 is rotationally connected with a rotating shaft one 3 through a bearing one, the outer side of the rotating shaft one 3 is movably sleeved with a hollow shaft one 4, the upper end of the hollow shaft one 4 is provided with an upper trunk connecting seat 5, the left and right walls of the waist and hip shell 1 are both rotationally connected with a rotating shaft two 6 through a bearing two, the outer side of the rotating shaft two 6 is movably sleeved with a hollow shaft two 7, the opposite ends of the two hollow shaft two 7 are both provided with a lower limb connecting seat 8, and the waist and hip shell 1 further comprises a single-chip microcomputer 2, the single-chip microcomputer 2 is located outside the waist and hip shell 1, the input end of the single-chip microcomputer 2 is electrically connected with an external power supply, the top wall and the left and right walls of the waist and hip shell 1 are both provided with a connecting seat 11, the middle part of the connecting seat 11 is rotationally connected with a pinion 13 through a rotating shaft three 12, one end of the rotating shaft one 3 and the rotating shaft two 6 close to the center of the waist and hip shell 1 is provided with a gear wheel 10, the gear wheel 10 is in meshing connection with the adjacent pinion 13, one side of the connecting seat 11 close to the center of the waist and hip shell 1 is provided with a brake motor 14, the input end of the brake motor 14 is electrically connected with the output end of the single-chip microcomputer 2, the output shaft of the brake motor 14 is fixedly connected with the adjacent rotating shaft three 12, the top wall and the left and right walls of the waist and hip shell 1 are both provided with an angle sensor 15, the angle sensor 15 is bidirectionally electrically connected with the single-chip microcomputer 2, the rotating shaft one 3 and the rotating shaft two 6 are fixedly connected with the detection end of the adjacent angle sensor 15, the outer side of the rotating shaft one 3 and the rotating shaft two 6 is provided with a guide groove 16, the inside of the hollow shaft two 7 and the hollow shaft one 4 is slidably connected with the adjacent guide groove 16 through a guide strip, when the waist and hip part of the humanoid robot moves, the single-chip microcomputer 2 starts the brake motor 14 to drive the output shaft of the brake motor 14 to rotate the upper rotating shaft three 12, the upper rotating shaft three 12 drives the upper pinion 13 to rotate, the upper pinion 13 drives the gear wheel 10 to rotate through meshing connection, so that the gear wheel 10 drives the upper rotating shaft one 3 to rotate, the rotating shaft one 3 is slidably connected with the guide strip through the guide groove 16, so that the hollow shaft one 4 drives the upper trunk connecting seat 5 to rotate around the rotating shaft one 3, in the process, the upper trunk connecting seat 5 drives the corresponding arc-shaped shell 92 to adaptively rotate around the corresponding annular dovetail groove one, meanwhile, the single-chip microcomputer 2 starts the upper angle sensor 15, the angle sensor 15 adopts a high-performance integrated magnetic sensitive element, utilizes the non-contact characteristics of the magnetic signal to measure the rotation angle of the upper rotating shaft one 3, and transmits the measurement result to the single-chip microcomputer 2 in the form of an electric signal, the single-chip microcomputer 2 stops the upper brake motor 14 according to the uploaded angle data, so that the rotation angle of the upper trunk connecting seat 5 of the waist and hip part of the humanoid robot is accurately adjusted, subsequently, the lower limb connecting seat 8 is adjusted around the rotating shaft two 6 through the same principle, the operation is convenient and accurate, after the brake motor 14 is powered on, the armature in the brake motor 14 is attracted by electromagnetism, so that the brake disc is in a rotatable state and the brake motor 14 is free to rotate, when the brake motor 14 loses power, the electromagnet loses power, the armature is immediately pushed against the spring, so that the brake disc and the motor rear end cover are pressed together,Stop rotating, so the brake motor 14 has self-locking function, so that the single-chip microcomputer 2 closes the brake motor 14, the output shaft of the brake motor 14 can be relatively fast to stop lock, the transmission ratio of the large gear 10 and the small gear 13 is much greater than 1, thereby reducing the rotation speed of the second rotating shaft 6 or the first rotating shaft 3 indirectly driven by the output shaft of the brake motor 14, and further reducing the rotation speed of the upper torso connecting seat 5 and the lower limb connecting seat 8, improving the adjustment and movement stability of the waist and hip part of the humanoid robot, and further comprising a reinforcing support distance adjusting mechanism 9.

[0021] The reinforcing support distance adjusting mechanism 9 comprises annular seats 91, arc-shaped shells 92, arc-shaped seats 93 and distance adjusting assemblies 94. The annular seats 91 are arranged on the upper side and the left and right sides of the waist and hip shell 1 respectively. Ring-shaped dovetail grooves one are formed on the sides of the annular seats 91 away from the center of the waist and hip shell 1. Two symmetrical arc-shaped shells 92 are slidably connected in the ring-shaped dovetail grooves one. An arc-shaped seat 93 is slidably connected in each arc-shaped shell 92. The upper torso connecting seat 5 and the lower limb connecting seat 8 are fixedly connected with the adjacent arc-shaped seats 93. The distance adjusting assembly 94 is arranged between the upper torso connecting seat 5 and the lower limb connecting seat 8 and the waist and hip shell 1. The distance adjusting assembly 94 comprises electro-hydraulic push rods 941, ring-shaped dovetail grooves two 942 and sliding seats 943. The electro-hydraulic push rods 941 are arranged on the top wall and the left and right walls of the waist and hip shell 1. The input ends of the electro-hydraulic push rods 941 are electrically connected with the output end of the single-chip microcomputer 2. The opposite inner sides of the two lower limb connecting seats 8 and the lower side of the upper torso connecting seat 5 are provided with ring-shaped dovetail grooves two 942. The sliding seats 943 are slidably connected in the ring-shaped dovetail grooves two 942. The extension ends of the electro-hydraulic push rods 941 are fixedly connected with the adjacent sliding seats 943. The distance adjusting assembly 94 further comprises laser sensors 944. The laser sensors 944 are arranged on the upper side and the left and right sides of the waist and hip shell 1. The laser sensors 944 are bidirectionally electrically connected with the single-chip microcomputer 2. The annular seat 91 is a carbon fiber annular seat. The arc-shaped shell 92 is a carbon fiber arc-shaped shell. The arc-shaped seat 93 is a carbon fiber arc-shaped seat. During the position adjustment of the upper torso connecting seat 5 and the lower limb connecting seat 8, the arc-shaped seat 93 rotates synchronously with the corresponding upper torso connecting seat 5 or lower limb connecting seat 8. The arc-shaped seat 93 is slidably connected with the corresponding arc-shaped shell 92, so that the arc-shaped shell 92 rotates and slides along the corresponding ring-shaped dovetail groove one. The sliding connection between the arc-shaped seat 93 and the arc-shaped shell 92 and the sliding connection between the arc-shaped shell 92 and the ring-shaped dovetail groove one of the annular seat 91 share and support the inertial deviation force of the corresponding rotation axis during the rotation of the upper torso connecting seat 5 or the lower limb connecting seat 8, thereby improving the rotation stability of the upper torso connecting seat 5 or the lower limb connecting seat 8. Meanwhile, the annular seat 91 is a carbon fiber annular seat. The arc-shaped shell 92 is a carbon fiber arc-shaped shell. The arc-shaped seat 93 is a carbon fiber arc-shaped seat. Carbon fiber has the advantages of high stiffness, high tensile strength and light weight. By selecting appropriate materials for the annular seat 91, the arc-shaped shell 92 and the arc-shaped seat 93, the structural strength of the components is improved, the operation damage is avoided, and the rotation stability of the upper torso connecting seat 5 or the lower limb connecting seat 8 is further improved.The single-chip microcomputer 2 controls the electro-hydraulic push rod 941 according to the result, so as to accurately adjust the position of the hip height of the waist and hip part of the humanoid robot, in the process, the upper annular seat 91 is self-adapted to slide vertically along the corresponding arc-shaped shell 92, the hollow shaft 4 is self-adapted to slide along the guide groove 16 in the rotating shaft 3 through the guide strip, the single-chip microcomputer 2 can also adjust the position of the hip width of the waist and hip part of the humanoid robot through the same principle, and the application range of the waist and hip part of the humanoid robot is improved, the device can assist the support of the rotational inertia force generated by the operation of the waist and hip part of the humanoid robot by adding reinforcing components and reasonably selecting the reinforcing components, so as to improve the operation stability of the waist and hip part of the humanoid robot, and meanwhile, the waist and hip part of the humanoid robot can be adjusted in hip width and cross height according to the actual environmental use demand, so the use is convenient.

[0022] The utility model provides a kind of working principle of the waist hip structure of humanoid robot as follows: the waist hip of humanoid robot moves, single-chip microcomputer 2 starts brake motor 14 to make its output shaft drive upper end's rotating shaft three 12 rotate, upper end's rotating shaft three 12 drives upper end's pinion 13 rotate, upper end's pinion 13 is connected by meshing with corresponding gear 10, to make gear 10 drive upper end's rotating shaft one 3 rotate, rotating shaft one 3 is slidably connected between itself guide groove 16 and guide strip, to make hollow shaft one 4 drive upper torso connecting seat 5 rotate around rotating shaft one 3 axis (in this process, upper torso connecting seat 5 drive corresponding arc shell 92 rotate around corresponding annular dovetail groove one self-adapting), while single-chip microcomputer 2 starts the angle sensor 15 of upper side, angle sensor 15 uses high-performance integrated magnetic sensitive element, using the characteristics of non-contact of magnetic signal response to measure the rotation angle of rotating shaft one 3 of upper side, and measurement result is transmitted to single-chip microcomputer 2 in electric signal mode, and single-chip microcomputer 2 is closed in time according to the angle data uploaded and the opening and closing of brake motor 14 of upper side, to realize the rotation angle accurate adjustment operation of the upper torso connecting seat 5 of the waist hip of humanoid robot, subsequently corresponding rotation angle adjustment around rotating shaft two 6 axis can be carried out to the lower limb connecting seat 8 of lower side by same principle, it is convenient and accurate to operate, brake motor 14 is energized, the armature in brake motor 14 is attracted by electromagnet, make brake disc be in rotatable state, and make brake motor 14 rotate freely, when brake motor 14 is de-energized, electromagnet is de-energized, armature is immediately pushed by spring, make brake disc and motor rear end cover press together, stop rotating, so brake motor 14 has self-locking function, to make the output shaft of brake motor 14 can be more quickly closed and locked when single-chip microcomputer 2 closes brake motor 14, the transmission ratio of gear 10 and pinion 13 is much greater than 1, to reduce the rotation speed of rotating shaft two 6 or rotating shaft one 3 indirectly driven by the output shaft of brake motor 14, to further reduce the rotation moving speed of upper torso connecting seat 5 and lower limb connecting seat 8, improve the adjustment moving stability of the waist hip of humanoid robot, during the position adjustment process of upper torso connecting seat 5 and lower limb connecting seat 8, arc seat 93 is synchronously rotated with corresponding upper torso connecting seat 5 or lower limb connecting seat 8, arc seat 93 is slidably connected with corresponding arc shell 92, to make arc shell 92 self-adapting rotation slide along corresponding annular dovetail groove one, the inertia deviation force of corresponding rotation axis during the rotation process of upper torso connecting seat 5 or lower limb connecting seat 8 is shared and supported by the slidably connected between arc seat 93 and arc shell 92 and the slidably connected between arc shell 92 and annular dovetail groove one of annular seat 91, to further improve the rotation running stability of upper torso connecting seat 5 or lower limb connecting seat 8, while annular seat 91 is carbon fiber annular seat, arc shell 92 is carbon fiber arc shell, arc seat 93 is carbon fiber arc seat, carbon fiber itself has the advantages of high stiffness, high tensile strength and light weight,The proper material is selected for the annular seat 91, the arc-shaped shell 92 and the arc-shaped seat 93, so that the structural strength of the components is improved, the operation damage is avoided, and the rotation operation stability of the upper torso connecting seat 5 or the lower limb connecting seat 8 is further improved. During the use of the waist and hip part structure of the humanoid robot, the single-chip microcomputer 2 starts the electro-hydraulic push rod 941 on the upper side to drive the upper torso connecting seat 5 to move vertically, and the single-chip microcomputer 2 starts the laser sensor 944, the laser sensor 944 emits a light signal to the lower side of the upper torso connecting seat 5 and reflects to the initial position, the vertical height of the upper torso connecting seat 5 is obtained according to the light signal propagation time and speed, and the result is transmitted to the single-chip microcomputer 2 in the form of an electrical signal, and the single-chip microcomputer 2 controls the electro-hydraulic push rod 941 according to the result, so as to accurately adjust the crotch height of the waist and hip part of the humanoid robot. During the process, the annular seat 91 on the upper side is adapted to vertically slide along the corresponding arc-shaped shell 92, the hollow shaft 4 is adapted to slide along the guide groove 16 in the rotating shaft 3 through the guide strip, and the single-chip microcomputer 2 can also adjust the position of the crotch width of the waist and hip part of the humanoid robot by the same principle, so as to improve the application range of the waist and hip part of the humanoid robot.

[0023] It is worth noting that the single-chip microcomputer 2 disclosed in the above embodiment can adopt MCS-51, the electro-hydraulic push rod 941 can adopt DYZW integral straight micro electro-hydraulic push rod, the laser sensor 944 can adopt WH-LRF laser range finder, the brake motor 14 can adopt YEJ6324, the angle sensor 15 can adopt HSM22M multi-turn non-contact magnetic sensitive potentiometer, and the single-chip microcomputer 2 controls the electro-hydraulic push rod 941, the laser sensor 944, the brake motor 14 and the angle sensor 15 to work by using the method commonly used in the prior art.

[0024] The above is only an embodiment of the present application, and does not limit the patent range of the present application, and any equivalent structure or equivalent process transformation obtained by using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection range of the present application.

Claims

1. A waist and hip structure for a humanoid robot, comprising a waist and hip shell (1), wherein the top wall of the waist and hip shell (1) is rotatably connected to a rotating shaft (3) via a bearing, a hollow shaft (4) is movably sleeved on the outer side of the rotating shaft (3), an upper torso connecting seat (5) is provided at the upper end of the hollow shaft (4), and rotating shafts (6) are rotatably connected to the left and right walls of the waist and hip shell (1) via bearings, and hollow shafts (7) are movably sleeved on the outer side of each of the rotating shafts (6), and lower limb connecting seats (8) are provided at the opposite ends of the two hollow shafts (7), characterized in that: It also includes reinforced support distance adjusting mechanism (9); The reinforced support distance adjusting mechanism (9) comprises annular seats (91), arc-shaped shells (92), arc-shaped seats (93) and distance adjusting assemblies (94), the annular seats (91) are arranged on the upper side and the left and right sides of the waist and hip shell (1) respectively, annular dovetail grooves one are formed in the sides, away from the center of the waist and hip shell (1), of the annular seats (91), two symmetrical arc-shaped shells (92) are slidably connected to the inside of the annular dovetail grooves one, arc-shaped seats (93) are slidably connected to the inside of the arc-shaped shells (92), the upper torso connecting seat (5) and the lower limb connecting seat (8) are fixedly connected with the adjacent arc-shaped seats (93), and the distance adjusting assemblies (94) are arranged between the upper torso connecting seat (5) and the lower limb connecting seat (8) and the waist and hip shell (1).

2. The waist structure of the humanoid robot according to claim 1, wherein: The single-chip microcomputer (2) is arranged outside the waist and hip shell (1), and the input end of the single-chip microcomputer (2) is electrically connected with an external power supply.

3. The waist structure of the humanoid robot according to claim 2, wherein: The distance adjusting assembly (94) comprises electro-hydraulic push rods (941), annular dovetail grooves two (942) and sliding seats (943), the electro-hydraulic push rods (941) are arranged on the top wall and the left and right walls of the waist and hip shell (1), the input ends of the electro-hydraulic push rods (941) are electrically connected with the output end of the single-chip microcomputer (2), annular dovetail grooves two (942) are formed in the opposite inner side surfaces of the two lower limb connecting seats (8) and the lower side of the upper torso connecting seat (5), the sliding seats (943) are slidably connected to the inside of the annular dovetail grooves two (942), and the telescopic ends of the electro-hydraulic push rods (941) are fixedly connected with the adjacent sliding seats (943).

4. The waist structure of the humanoid robot according to claim 2, wherein: The distance adjusting assembly (94) further comprises laser sensors (944), the laser sensors (944) are arranged on the upper side and the left and right sides of the waist and hip shell (1), and the laser sensors (944) are bidirectionally electrically connected with the single-chip microcomputer (2).

5. The waist structure of the humanoid robot according to claim 2, wherein: The top wall and the left and right walls of the waist and hip shell (1) are provided with connecting seats (11), small gears (13) are rotationally connected with the middle portions of the connecting seats (11) through shafts three (12), the shafts one (3) and the shafts two (6) are provided, at one end close to the center of the waist and hip shell (1), with large gears (10) which are in meshing connection with the adjacent small gears (13), the sides, close to the center of the waist and hip shell (1), of the connecting seats (11) are provided with brake motors (14), the input ends of the brake motors (14) are electrically connected with the output end of the single-chip microcomputer (2), and the output shafts of the brake motors (14) are fixedly connected with the adjacent shafts three (12).

6. The waist structure of the humanoid robot according to claim 2, wherein: The top wall and the left and right walls of the waist and hip shell (1) are provided with angle sensors (15), the angle sensors (15) are bidirectionally electrically connected with the single-chip microcomputer (2), and the shafts one (3) and the shafts two (6) are fixedly connected with the detection ends of the adjacent angle sensors (15).

7. The waist structure of the humanoid robot according to claim 1, wherein: The outer sides of the shafts one (3) and the shafts two (6) are provided with guide grooves (16), and the interiors of the hollow shafts two (7) and the hollow shafts one (4) are slidably connected with the adjacent guide grooves (16) through guide strips.

8. The waist structure of the humanoid robot according to claim 1, wherein: The annular seat (91) is a carbon fiber annular seat, the arc-shaped shell (92) is a carbon fiber arc-shaped shell, and the arc-shaped seat (93) is a carbon fiber arc-shaped seat.

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